Abstract: Wearable robotics is a potential solution in aiding gait rehabilitation of lower limbs dyskinesia patients, such as knee osteoarthritis or stroke afflicted patients. Many wearable robots have been developed in the form of rigid exoskeletons, but their bulk devices, high cost and control complexity hinder their popularity in the field of gait rehabilitation. Thus, the development of a portable, compliant and low-cost wearable robot for gait rehabilitation is necessary. Inspired by Chinese traditional folding fans and balloon inflators, the authors present an inflatable, foldable and variable stiffness knee exosuit (IFVSKE) in this paper. The pneumatic actuator of IFVSKE was fabricated in the shape of folding fans by using thermoplastic polyurethane (TPU) fabric materials. The geometric and mechanical properties of IFVSKE were characterized with experimental methods. To assist the knee joint smartly, an intelligent control profile for IFVSKE was proposed based on the concept of full-cycle energy management of the biomechanical energy during human movement. The biomechanical energy of knee joints in a walking gait cycle of patients could be collected and released to assist the joint motion just by adjusting the inner pressure of IFVSKE. Finally, a healthy subject was involved to walk with and without the IFVSKE to evaluate the assisting effects.
Abstract: To investigate seismic performance of beam-column knee joints, four full-scale reinforced concrete beam-column knee joints, which were fabricated to simulate those in as-built RC frame buildings designed to ACI 318-14 and ACI-ASCE 352R-02, were tested under reversed cyclic loading. In the experimental programme, particular emphasis was given to the effect of horizontal reinforcement (in format of inverted U-shape bars) on the shear strength and ductility capacity of knee joints. Test results are compared with those predicted by four seismic design codes, including ACI 318-14, EC8, NZS3101 and GB50010. It is seen that the current design codes of practice cannot accurately predict the shear strength of seismically designed knee joints.
Abstract: Knee joints, the beam column connections found at the roof level of a moment resisting frame buildings, are inherently different from conventional interior and exterior beam column connections in the way that forces from adjoining members are transferred into joint and then resisted by the joint. A knee connection has two distinct load resisting mechanisms, each for closing and opening actions acting simultaneously under reversed cyclic loading. In spite of many distinct differences in the behaviour of shear resistance in knee joints, there are no special design provisions in the major design codes available across the world due to lack of in-depth research on the knee connections. To understand the relative importance of opening and closing actions in design, it is imperative to study knee joints under varying shear stresses, especially at higher opening-to-closing shear stress ratios. Three knee joint specimens, under different input shear stresses, were designed to produce a varying ratio of input opening to closing shear stresses. The design was carried out in such a way that the ratio of flexural strength of beams with consideration of axial forces in opening to closing actions are maintained at 0.5, 0.7, and 1.0, thereby resulting in the required variation of opening to closing joint shear stress ratios among the specimens. The behaviour of these specimens was then carefully studied in terms of closing and opening capacities, hysteretic behaviour, and envelope curves to understand the differences in joint performance based on which an attempt to suggest design guidelines for knee joints is made emphasizing the relative importance of opening and closing actions. Specimens with relatively higher opening stresses were observed to be more vulnerable under the action of seismic loading.
Abstract: The major contributor to the human locomotion is the knee flexion and extension. During heel strike, a huge amount of energy is transmitted through the leg towards knee joint, which in fact is damped at heel and leg muscles. During high shocks, although it is damped to a certain extent, the balance force transmits towards knee joint which could damage the knee. Due to the vital function of the knee joint, it should be protected against damage due to additional load acting on it. This work concentrates on the development of spring mass damper system which exactly replicates the stiffness at the heel and muscles and the objective function is optimized to minimize the force acting at the knee joint. Further, the data collected using force plate are put into the model to verify its integrity and are found to be in good agreement.
Abstract: The paper describes conceptual design, control strategies, and partial simulation for a new fully autonomous lower limb wearable exoskeleton system for human motion enhancement that can support its weight and increase strength and endurance. Various problems still remain to be solved where the most important is the creation of a power and cost efficient system that will allow an exoskeleton to operate for extended period without batteries being frequently recharged. The designed exoskeleton is enabling to decouple the weight/mass carrying function of the system from the forward motion function which reduces the power and size of propulsion motors and thus the overall weight, cost of the system. The decoupling takes place by blocking the motion at knee joint by placing passive air cylinder across the joint. The cylinder is actuated when the knee angle has reached the minimum allowed value to bend. The value of the minimum bending angle depends on usual walk style of the subject. The mechanism of the exoskeleton features a seat to rest the subject’s body weight at the moment of blocking the knee joint motion. The mechanical structure of each leg has six degrees of freedom: four at the hip, one at the knee, and one at the ankle. Exoskeleton legs are attached to subject legs by using flexible cuffs. The operation of all actuators depends on the amount of pressure felt by the feet pressure sensors and knee angle sensor. The sensor readings depend on actual posture of the subject and can be classified in three distinct cases: subject stands on one leg, subject stands still on both legs and subject stands on both legs but transit its weight from one leg to other. This exoskeleton is power efficient because electrical motors are smaller in size and did not participate in supporting the weight like in all other existing exoskeleton designs.
Abstract: Artificial joint replacements such as total knee and total hip prosthesis have been applied to the patients who affected by osteoarthritis. Although different material combinations are used for these joints, biopolymers are most commonly preferred materials especially for acetabular cup and tibial component of hip and knee joints respectively. The main limitation that shortens the service life of these prostheses is wear. Wear is complicated phenomena and it must be considered with friction and lubrication. In this study, micro wave (MW) induced argon+oxygen plasma surface modification were applied on ultra-high molecular weight polyethylene (UHMWPE) and vitamin E blended UHMWPE (VE-UHMWPE) biopolymer surfaces to improve surface wettability and wear resistance of the surfaces. Contact angel measurement method was used for determination of wettability. Ball-on-disc wear test was applied under 25% bovine serum lubrication conditions. The results show that surface wettability and wear resistance of both material samples were increased by plasma surface modification.
Abstract: Background: Plantar pressure measurement is an effective method for assessing plantar loading and can be applied to evaluating movement performance of the foot. The purpose of this study is to explore the sprint athletes’ plantar loading characteristics and pain profiles in static standing. Methods: Experiments were undertaken on 80 first-division college sprint athletes and 85 healthy non-sprinters. ‘JC Mat’, the optical plantar pressure measurement was applied to examining the differences between both groups in the arch index (AI), three regional and six distinct sub-regional plantar pressure distributions (PPD), and footprint characteristics. Pain assessment and self-reported health status in sprint athletes were examined for evaluating their common pain areas. Results: Findings from the control group, the males’ AI fell into the normal range. Yet, the females’ AI was classified as the high-arch type. AI values of the sprint group were found to be significantly lower than the control group. PPD were higher at the medial metatarsal bone of both feet and the lateral heel of the right foot in the sprint group, the males in particular, whereas lower at the medial and lateral longitudinal arches of both feet. Footprint characteristics tended to support the results of the AI and PPD, and this reflected the corresponding pressure profiles. For the sprint athletes, the lateral knee joint and biceps femoris were the most common musculoskeletal pains. Conclusions: The sprint athletes’ AI were generally classified as high arches, and that their PPD were categorized between the features of runners and high-arched runners. These findings also correspond to the profiles of patellofemoral pain syndrome (PFPS)-related plantar pressure. The pain profiles appeared to correspond to the symptoms of high-arched runners and PFPS. The findings reflected upon the possible link between high arches and PFPS. The correlation between high-arched runners and PFPS development is worth further studies.
Abstract: Autologous Chondrocyte Implantation (ACI) is used worldwide since 1998 to treat cartilage defect. GEL based ACI is a new tissue-engineering technique to treat full thickness cartilage defect with fibrin and thrombin as scaffold for chondrocytes. Purpose of this study is to see safety and efficacy of gel based ACI for knee cartilage defect in multiple centres with different surgeons. Gel-based Autologous Chondrocyte Implantation (GACI) has shown effectiveness in treating isolated cartilage defect of knee joint. Long term results are still needed to be studied. This study was followed-up up to two years and showed benefit to patients. All enrolled patients with a mean age of 28.5 years had an average defect size of3 square centimeters, and were grade IV as per ICRS grading. All patients were followed up several times and at several intervals at 6th week, 8th week, 11th week, 17th week, 29th week, 57th week after surgery. The outcomes were measured based on the IKDC (subjective and objective) and MOCART scores.
Abstract: Introduction: Whole-Body Vibration (WBV) uses
high frequency mechanical stimuli generated by a vibration plate and
transmitted through bone, muscle and connective tissues to the whole
body. Research has shown that long-term vibration-plate training
improves neuromuscular facilitation, especially in afferent neural
pathways, responsible for the conduction of vibration and
proprioceptive stimuli, muscle function, balance and proprioception.
Some researchers suggest that the vibration stimulus briefly inhibits
the conduction of afferent signals from proprioceptors and can
interfere with the maintenance of body balance. The aim of this study
was to evaluate the influence of a single set of exercises associated
with whole-body vibration on the joint position sense and body
balance. Material and methods: The study enrolled 55 people aged
19-24 years. These individuals were randomly divided into a test
group (30 persons) and a control group (25 persons). Both groups
performed the same set of exercises on a vibration plate. The
following vibration parameters: frequency of 20Hz and amplitude of
3mm, were used in the test group. The control group performed
exercises on the vibration plate while it was off. All participants were
instructed to perform six dynamic exercises lasting 30 seconds each
with a 60-second period of rest between them. The exercises involved
large muscle groups of the trunk, pelvis and lower limbs.
Measurements were carried out before and immediately after
exercise. Joint position sense (JPS) was measured in the knee joint
for the starting position at 45° in an open kinematic chain. JPS error
was measured using a digital inclinometer. Balance was assessed in a
standing position with both feet on the ground with the eyes open and
closed (each test lasting 30 sec). Balance was assessed using Matscan
with FootMat 7.0 SAM software. The surface of the ellipse of
confidence and front-back as well as right-left swing were measured
to assess balance. Statistical analysis was performed using Statistica
10.0 PL software. Results: There were no significant differences
between the groups, both before and after the exercise (p> 0.05). JPS
did not change in both the test (10.7° vs. 8.4°) and control groups
(9.0° vs. 8.4°). No significant differences were shown in any of the
test parameters during balance tests with the eyes open or closed in
both the test and control groups (p> 0.05). Conclusions: 1.
Deterioration in proprioception or balance was not observed
immediately after the vibration stimulus. This suggests that vibrationinduced
blockage of proprioceptive stimuli conduction can have only
a short-lasting effect that occurs only as long as a vibration stimulus
is present. 2. Short-term use of vibration in treatment does not impair
proprioception and seems to be safe for patients with proprioceptive
impairment. 3. These results need to be supplemented with an
assessment of proprioception during the application of vibration
stimuli. Additionally, the impact of vibration parameters used in the
exercises should be evaluated.
Abstract: The efficiency of the actuation system of exoskeletons
and active orthoses for lower limbs is a significant aspect of the
design of such devices because it affects their efficacy. The F-IVT is
an innovative actuation system to power artificial knee joint with
energy recovery capabilities. Its key and non-conventional elements
are a flywheel that acts as a mechanical energy storage system, and
an Infinitely Variable Transmission (IVT). The design of the F-IVT
can be optimized for a certain walking condition, resulting in a heavy
reduction of both the electric energy consumption and of the electric
peak power. In this work, by means of simulations of level ground
walking at different speeds, it is demonstrated that the F-IVT is still
an advantageous actuator which permits to save energy consumption
and to downsize the electric motor even when it does not work in
nominal conditions.
Abstract: The article deals with a biomechanics analysis of the classic bicross start with a backward movement of the bike. This is a case study analyzing this type of start in two bicross riders representing the Czech Republic. Based on the 3D kinematic analysis and with a special emphasis on the ankle movement we have divided the start into five phases – phase n. 1 – reaction time, phase n. 2 – preparation movements time, phase n. 3 – first pedal stroke time, phase n. 4 – dead point pedal passage time, phase n. 5 – second pedal stroke time. Further we have demonstrated the significance of kinematic characteristics in various stages of the bicross start including their values and the extent of change. These primarily include the vector of the instantaneous velocity of the head, wrists, elbows, shoulders, hip and knee joints. The significant angle characteristics have been noted in elbow, shoulder, hip and knee joints. The results of this work indicate the types of movement prevailing in the respective phases and as such are expected to serve as a basis for further analyses of this movement structure performed, however, on a large research sample.
Abstract: The human knee joint has a three dimensional
geometry with multiple body articulations that produce complex
mechanical responses under loads that occur in everyday life and
sports activities. To produce the necessary joint compliance and
stability for optimal daily function various menisci and ligaments are
present while muscle forces are used to this effect. Therefore,
knowledge of the complex mechanical interactions of these load
bearing structures is necessary when treatment of relevant diseases is
evaluated and assisting devices are designed.
Numerical tools such as finite element analysis are suitable for
modeling such joints in order to understand their physics. They have
been used in the current study to develop an accurate human knee
joint and model its mechanical behavior. To evaluate the efficacy of
this articulated model, static load cases were used for comparison
purposes with previous experimentally verified modeling works
drawn from literature.
Abstract: The effect of muscle loss due to transfemoral
amputation, on energy expenditure of hip joint and individual
residual muscles was simulated. During swing phase of gait, with
each muscle as an ideal force generator, the lower extremity was
modeled as a two-degree of freedom linkage, for which hip and knee
were joints. According to results, muscle loss will not lead to higher
energy expenditure of hip joint, as long as other parameters of limb
remain unaffected. This finding maybe due to the role of biarticular
muscles in hip and knee joints motion. Moreover, if hip flexors are
removed from the residual limb, residual flexors, and if hip extensors
are removed, residual extensors will do more work. In line with the
common practice in transfemoral amputation, this result demonstrates
during transfemoral amputation, it is important to maintain the length
of residual limb as much as possible.
Abstract: The understanding of knee movement during swing
importance for golf swing improving and preventing injury. Thirty
male professional and amateur golfers were assigned to swing time
by time for 3 times. Data from a vedio-based motion capture were
used to compute knee joint movement variables. The results showed
that professional and amateur golfers were significantly in left knee
flexion angle at the impact point and mid follow through phase.
Nevertheless, left knee external rotation in both groups was also
significant. The right knee were no significant different in all
variable. However, pattern of knee joint movement are also likely
between professional and amateur golfers.
Abstract: Development, calibration and validation of a threedimensional
model of the Legform impactor for pedestrian crash with
bumper are presented. Lower limb injury is becoming an increasingly
important concern in vehicle safety for both occupants and
pedestrians. In order to prevent lower extremity injuries to a
pedestrian when struck by a car, it is important to elucidate the
loadings from car front structures on the lower extremities and the
injury mechanism caused by these loadings. An impact test
procedure with a legform addressing lower limb injuries in car
pedestrian accidents has been proposed by EEVC/WG17. In this
study a modified legform impactor is introduced and validated
against EEVC/WG17 criteria. The finite element model of this
legform is developed using LS-DYNA software. Total mass of
legform impactor is 13.4 kg.Technical specifications including the
mass and location of the center of gravity and moment of inertia
about a horizontal axis through the respective centre of gravity in
femur and tibia are determined. The obtained results of legform
impactor static and dynamic tests are as specified in the
EEVC/WG17.
Abstract: This paper presents a new type of mechanism and trajectory planning strategy for bipedal walking robot. The newly designed mechanism is able to improve the performance of bipedal walking robot in terms of energy efficiency and weight reduction by utilizing minimum number of actuators. The usage of parallelogram mechanism eliminates the needs of having an extra actuator at the knee joint. This mechanism works together with the joint space trajectory planning in order to realize straight legged walking which cannot be achieved by conventional inverse kinematics trajectory planning due to the singularity. The effectiveness of the proposed strategy is confirmed by computer simulation results.
Abstract: Knee joint forces are available by in vivo measurement
using an instrumented knee prosthesis for small to moderate knee
flexion but not for high flexion yet. We created a 2D mathematical
model of the lower limb incorporating several new features such as a
patello-femoral mechanism, a thigh-calf contact at high knee flexion
and co-contracting muscles' force ratio, then used it to determine knee
joint forces arising from high knee flexions in four kneeling
conditions: rising with legs in parallel, with one foot forward, with or
without arm use. With arms used, the maximum values of knee joint
force decreased to about 60% of those with arms not used. When rising
with one foot forward, if arms are not used, the forward leg sustains a
force as large as that sustained when rising with legs parallel.